Optic Flow Sensor with Fused Elementary Motion Detector Outputs
Patent Application, Filed 7 Jul 2000
DEPARTMENT OF THE NAVY WASHINGTON DC
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An optic flow sensor is provided which employs a plurality of photoreceptors and which produces a final optic flow signal that is a robust measurement of the optic flow as seen by the photoreceptors. Each array of a plurality of feature detector arrays receives, as input, photoreceptor signals from the receptors and generates a plurality of feature signals based thereon. Each optic flow measuring circuit or algorithm of a plurality of optic flow measuring circuits or algorithms receives, as input, one of the plurality of feature signals. The optic flow measuring circuits or algorithms each generate an optic flow measurement signal so that a plurality of optic flow measurement signals are generated. A fusion circuit or algorithm, which can, e.g., employ a leaky integrator circuit or algorithm, receives, as input, the optic flow measurement signals and generates the final optic flow signal based thereon.